PURPOSE: To obtain a moving robot in a tube in which an accurately moving distance between a drive electrode for driving an axle and a sensor electrode integrated therewith can be detected and which can be applied even in a fine tube.
CONSTITUTION: A moving robot in a tube has wheels 3 in contact with an inner wall 2 of the tube, rotation sensors for detecting rotations of the wheels, and a driver, and comprises rectangular electrodes made of metal thin films provided radially from center of a shaft through insulators on side faces of the wheels 3 and an inner surface of an axis holding frame 4 opposed to the side faces of the wheels. A terminal for detecting an electrostatic amount is provided from the part of the electrode of the frame 4.
MIKURIYA YOSHIKAZU
MATSUO TOSHIHIRO
YAGI KOJI
